A time-varying Kalman filter for low-acceleration attitude estimation

Á. Deibe Díaz, J.A. Antón Nacimiento, J. Cardenal, F.L. Peña, A time-varying Kalman filter for low-acceleration attitude estimation, Measurement 213 (2023) 112729. https://doi.org/10.1016/j.measurement.2023.112729.

Abstract

[Abstract]: This work shows an attitude estimator (AE) based on a time-varying Kalman filter (TVKF) and adapted to those cases where a low-acceleration assumption can be applied. This filter is an extended version of a previously published time-varying Kalman filter attitude estimator (TVKAE). A comparative analysis of the accuracies of those two estimators is provided. The efficiencies of both filters are also compared with those of other published AEs. The results show that the new AE achieves the best overall performance, followed by the original one.

Keywords

Attitude estimation
AHRS
IMU
Kalman filter
Quaternions

Description

CC BY-NC-ND 4.0 https://creativecommons.org/licenses/by-nc-nd/4.0/

Editor version

https://doi.org/10.1016/j.measurement.2023.112729

ISSN

1873-412X